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Non-linear performance analysis and voltage control of MFC based on feedforward fuzzy logic PID strategy 被引量:8
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作者 LUO Qing-zhu AN Ai-min +1 位作者 ZHANG Hao-chen MENG Fan-cheng 《Journal of Central South University》 SCIE EI CAS CSCD 2019年第12期3359-3371,共13页
Microbial fuel cell(MFC)is a kind of promising clean power supply energy equipment,but serious nonlinearities and disturbances exist when the MFC runs,and it is an important topic to guarantee that the output voltage ... Microbial fuel cell(MFC)is a kind of promising clean power supply energy equipment,but serious nonlinearities and disturbances exist when the MFC runs,and it is an important topic to guarantee that the output voltage reaches the setting value quickly and smoothly.Regulating the feeding flow is an effective way to achieve this goal,and especially,the satisfactory results can be achieved by regulating anode feeding flow.In this work,a feedforward fuzzy logic PID algorithm is proposed.The fuzzy logic system is introduced to deal with the non-linear dynamics of MFC,and corresponding PID parameters are calculated according to defuzzification.The magnitude value of the current density is used to simulate the value of the external load.The simulation results indicate that the MFC output voltage can track the setting value quickly and smoothly with the proposed feedforward fuzzy logic PID algorithm.The proposed algorithm is more efficient and robust with respect to anti-disturbance performance and tracking accuracy than other three control methods. 展开更多
关键词 microbial fuel cell feedforward fuzzy logic PID nonlinear performance analysis output voltage tracking
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Stylistic Analysis on English On-line Chat
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作者 别尽秋 闻扬波 《海外英语》 2013年第6X期224-225,227,共3页
Based on the fact that on-line chat has become the most developing language form in the information age, this article point out the stylistic features of on-line English chat. Though in written language form, such lan... Based on the fact that on-line chat has become the most developing language form in the information age, this article point out the stylistic features of on-line English chat. Though in written language form, such language is spoken language in nature, thus it is worthwhile to analyze this special phaenomenon in lexical and grammatical level. 展开更多
关键词 on-line ENGLISH STYLISTIC analysis LEXICAL grammat
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On-line Batch Process Monitoring and Diagnosing Based on Fisher Discriminant Analysis
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作者 赵旭 邵惠鹤 《Journal of Shanghai Jiaotong university(Science)》 EI 2006年第3期307-312,316,共7页
A new on-line batch process monitoring and diagnosing approach based on Fisher discriminant analysis (FDA) was proposed. This method does not need to predict the future observations of variables, so it is more sensi... A new on-line batch process monitoring and diagnosing approach based on Fisher discriminant analysis (FDA) was proposed. This method does not need to predict the future observations of variables, so it is more sensitive to fault detection and stronger implement for monitoring. In order to improve the monitoring performance, the variables trajectories of batch process are separated into several blocks. The key to the proposed approach for on-line monitoring is to calculate the distance of block data that project to low-dimension Fisher space between new batch and reference batch. Comparing the distance with the predefine threshold, it can be considered whether the batch process is normal or abnormal. Fault diagnosis is performed based on the weights in fault direction calculated by FDA. The proposed method was applied to the simulation model of fed-batch penicillin fermentation and the resuits were compared with those obtained using MPCA. The simulation results clearly show that the on-line monitoring method based on FDA is more efficient than the MPCA. 展开更多
关键词 batch process on-line process monitoring fault diagnosis Fisher discriminant analysis (FDA) multiway principal component analysis (MPCA)
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Mechanics Analysis of Overhead Transmission Lines Based On-line Monitoring
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作者 Lili Dai Yongli Zhu Zehui Liang 《Open Journal of Applied Sciences》 2013年第2期1-4,共4页
At present, the on-line monitoring is widely applied to the power line monitoring. In this paper, a new mechanical calculation model is established according to the on-line monitoring. And this model is based on the p... At present, the on-line monitoring is widely applied to the power line monitoring. In this paper, a new mechanical calculation model is established according to the on-line monitoring. And this model is based on the parameters that tension sensors and angle sensors on suspended points detect, and combines with the parameters of the wire itself, and also considers the deflection angel of wires due to wind. In this model, mechanics parameters of wires are turned into the new coordinate plane after deflection angel of wires due to wind, or windage yaw plane. A statics tension balance equation is built in the vertical direction of the new windage yaw plane. According to the theoretical analysis and algorithm, we verify the accuracy of this newly developed mechanical calculation model. 展开更多
关键词 OVERHEAD Transmission Line on-line Monitoring Mechanical analysis Tension ANGLE ICING Windage Yaw
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Dynamic character analysis for the arc welding power source based on fuzzy logic 被引量:2
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作者 王振民 薛家祥 王富光 《China Welding》 EI CAS 2007年第4期1-6,共6页
A lot of experimental methods have been brought forth to assess the dynamic character of the arc welding power source, but up to now, this issue has not been solved very well. In this paper, based on the fuzzy logic r... A lot of experimental methods have been brought forth to assess the dynamic character of the arc welding power source, but up to now, this issue has not been solved very well. In this paper, based on the fuzzy logic reasoning method, a dynamic character assessing model for the arc welding power source was established and used to analyze the dynamic character of the welding power source. Three different types of welding machine have been tested, and the characteristic information of the electrical signals such as re-striking arc voltage, low welding current and so on of the welding process were extracted accurately by using a self-developed welding dynamic arc wavelet analyzer. The experimental results indicate that this model can be used as a new assessing method for the dynamic character of the arc welding power source. 展开更多
关键词 arc welding power source fuzzy logic reasoning wavelet analysis dynamic character
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Importance Analysis of a Multi-state System Based on Direct Partial Logic Derivatives and Multi-valued Decision Diagrams 被引量:1
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作者 古莹奎 李晶 《Journal of Donghua University(English Edition)》 EI CAS 2014年第6期789-792,共4页
Importance analysis quantifies the critical degree of individual component. Compared with the traditional binary state system,importance analysis of the multi-state system is more aligned with the practice. Because th... Importance analysis quantifies the critical degree of individual component. Compared with the traditional binary state system,importance analysis of the multi-state system is more aligned with the practice. Because the multi-valued decision diagram( MDD) can reflect the relationship between the components and the system state bilaterally, it was introduced into the reliability calculation of the multi-state system( MSS). The building method,simplified criteria,and path search and probability algorithm of MSS structure function MDD were given,and the reliability of the system was calculated. The computing methods of importance based on MDD and direct partial logic derivatives( DPLD) were presented. The diesel engine fuel supply system was taken as an example to illustrate the proposed method. The results show that not only the probability of the system in each state can be easily obtained,but also the influence degree of each component and its state on the system reliability can be obtained,which is conducive to the condition monitoring and structure optimization of the system. 展开更多
关键词 multi-state system(MSS) importance analysis reliability multi-valued decision diagram(MDD) direct partial logic derivative(DPLD) diesel engine fuel supply system
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Profitability analysis of a femtosecond laser system for cataract surgery using a fuzzy logic approach 被引量:1
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作者 Jose Antonio Trigueros David P Pinero Mahmoud M Ismail 《International Journal of Ophthalmology(English edition)》 SCIE CAS 2016年第7期1046-1050,共5页
AIM:To define the financial and management conditions required to introduce a femtosecond laser system for cataract surgery in a clinic using a fuzzy logic approach.METHODS:In the simulation performed in the current... AIM:To define the financial and management conditions required to introduce a femtosecond laser system for cataract surgery in a clinic using a fuzzy logic approach.METHODS:In the simulation performed in the current study,the costs associated to the acquisition and use of a commercially available femtosecond laser platform for cataract surgery(VICTUS,TECHNOLAS Perfect Vision GmbH,Bausch & Lomb,Munich,Germany) during a period of 5y were considered.A sensitivity analysis was performed considering such costs and the countable amortization of the system during this 5y period.Furthermore,a fuzzy logic analysis was used to obtain an estimation of the money income associated to each femtosecond laser-assisted cataract surgery(G). RESULTS:According to the sensitivity analysis,the femtosecond laser system under evaluation can be profitable if 1400 cataract surgeries are performed per year and if each surgery can be invoiced more than $500.In contrast,the fuzzy logic analysis confirmed that the patient had to pay more per surgery,between $661.8 and $667.4 per surgery,without considering the cost of the intraocular lens(IOL).CONCLUSION:A profitability of femtosecond laser systems for cataract surgery can be obtained after a detailed financial analysis,especially in those centers with large volumes of patients.The cost of the surgery for patients should be adapted to the real flow of patients with the ability of paying a reasonable range of cost. 展开更多
关键词 cataract surgery femtosecond laser fuzzy logic femto-cataract victus profitability analysis
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Retrieve Logic Flow in Discourse Analysis of Academic Paper: A Case Study of Law, Law, What Is Law
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作者 YANG Zhuo 《Journal of Literature and Art Studies》 2017年第5期568-573,共6页
The present study shall be mainly concerned with logic flow and its expressions in academic paper. It examines Law, Law, What Law? and intends to focus on two research goals: (1) to identify logic flow among claus... The present study shall be mainly concerned with logic flow and its expressions in academic paper. It examines Law, Law, What Law? and intends to focus on two research goals: (1) to identify logic flow among clause complexes; (2) to figure out meanings and intentions of those logic expressions. The description and analysis shall demonstrate how the logic flow is achieved on two aspects of textual cohesive devices: grammatical cohesion and lexical cohesion. Any reader or translator ignores such devices of cohesion may not only get lost in the maze of language but miss subtle touches of irony, hence misreading the author's points of view. 展开更多
关键词 discourse analysis systemic functional grammar logic flow descriptive translation studies
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Logical inferences in discourse analysis
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作者 刘峰廷 《科技视界》 2014年第26期194-194,211,共2页
Cohesion and coherence are two important characteristics of discourses.Halliday and Hasan have pointed out that cohesion is the basis of coherence and coherence is the premise of forming discourse.The commonly used co... Cohesion and coherence are two important characteristics of discourses.Halliday and Hasan have pointed out that cohesion is the basis of coherence and coherence is the premise of forming discourse.The commonly used cohesive devices are:preference,ellipsis,substitution,etc.Discourse coherence is mainly manifested in sentences and paragraphs.However,in real discourse analysis environment,traditional methods on cohesion and coherence are not enough.This article talks about the conception of discourse analysis at the beginning.Then,we list some of the traditional cohesive devices and its uses.Following that,we make corpus analysis.Finally,we explore and find a new device in textual analysis:discourse logical inferences. 展开更多
关键词 英语 文学作品 文学评论 学习方法
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Improvement on On-line Ferrograph Image Identification 被引量:8
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作者 WU Tonghai WANG Weigang +2 位作者 WU Jiaoyi MAO Junhong XIE Youbai 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2010年第1期1-6,共6页
A newly developed on-line visual ferrograph(OLVF) gives a new way for engine wear state monitoring. However, the reliability of on-line wear debris image processing is challenged in both monitoring ship engines and ... A newly developed on-line visual ferrograph(OLVF) gives a new way for engine wear state monitoring. However, the reliability of on-line wear debris image processing is challenged in both monitoring ship engines and the Caterpillar bench test, which weren't reported in previous studies. Two problems were encountered in monitoring engines and processing images. First, small wear debris becomes hard to be identified from the image background after monitoring for a period of time. Second, the identification accuracy for wear debris is greatly reduced by background noise because of oil getting dark after nmning a period of time. Therefore, the methods adopted in image processing are examined. Two main reasons for the problems in wear debris identification are generalized as follows. Generally, the binary threshold was determined by global image pixels, and was easily affected by the non-objective zone in the image. The boundary of the objective zone in the binary image was misrecognized because of oil color becoming lighter during monitoring. Accordingly, improvements were made as follows. The objective zone in a global binary image was identified by scanning a column of pixels, and then a secondary binary process confined in the objective zone was carried out to identify small wear debris. Linear filtering with a specific template was used to depress noise in a binary image, and then a low-pass filtering was performed to eliminate the residual noise. Furthermore, the morphology parameters of single wear debris were extracted by separating each wear debris by a gray stack, and two indexes, WRWR (relative wear rate) and WRWS (relative wear severity), were proposed for wear description. New indexes were provided for on-line monitoring of engines. 展开更多
关键词 image analysis on-line ferrograph wear debris OIL
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Automatic analytical approach for the determination of 12 illicit drugs and nicotine metabolites in wastewater using on-line SPE-UHPLC-MS/MS 被引量:6
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作者 Jingyuan Wang Likai Qia +8 位作者 Chenzhi Hou Tingting Zhang Mengyi Chen Haitao Meng Mengxiang Su Hui Xu Zhendong Hua Youmei Wang Bin Di 《Journal of Pharmaceutical Analysis》 SCIE CAS CSCD 2021年第6期739-745,共7页
In this study,we developed a novel on-line solid phase extraction(SPE)-ultra-high-performance liquid chromatography tandem mass spectrometry(UHPLC-MS/MS)-based analytical method for simultaneously quantifying 12 illic... In this study,we developed a novel on-line solid phase extraction(SPE)-ultra-high-performance liquid chromatography tandem mass spectrometry(UHPLC-MS/MS)-based analytical method for simultaneously quantifying 12 illicit drugs and metabolites(methamphetamine,amphetamine,morphine,codeine,6-monoacetylmorphine,benzoylecgonine,3,4-methylenedioxymethamphetamine,3,4-methylenedioxyamphetamine,cocaine,ketamine,norketamine,and methcathinone)and cotinine(COT)in wastewater samples.The analysis was performed by loading 2 m L of the sample onto an Oasis hydrophilic-lipophilic balance cartridge and using a cleanup step(5%methanol)to eliminate interference with a total run time of 13 min.The isotope-labeled internal standard method was used to quantify the target substances and correct for unavoidable losses and matrix effects during the on-line SPE process.Typical analytical characteristics used for method validation were sensitivity,linearity,precision,repeatability,recovery,and matrix effects.The limit of detection(LOD)and limit of quantification(LOQ)of each target were set at 0.20 ng/L and 0.50 ng/L,respectively.The linearity was between 0.5 ng/L and250 ng/L,except for that of COT.The intra-and inter-day precisions were<10.45%and 25.64%,respectively,and the relative recovery ranged from 83.74%to 162.26%.The method was used to analyze various wastewater samples from 33 cities in China,and the results were compared with the experimental results of identical samples analyzed using off-line SPE.The difference rate was between 19.91%and-20.44%,and the error range could be considered acceptable.These findings showed that on-line SPE is a suitable alternative to off-line SPE for the analysis of illicit drugs in samples. 展开更多
关键词 Illicit drugs and metabolites Wastewater analysis on-line solid phase extraction Ultra-high-performance liquid CHROMATOGRAPHY Mass spectrometry
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Dynamic Positioning Capability Analysis for Marine Vessels Based on A DPCap Polar Plot Program 被引量:2
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作者 WANG Lei YANG Jian-min XU Sheng-wen 《China Ocean Engineering》 SCIE EI CSCD 2018年第1期90-98,共9页
Dynamic positioning capability(DPCap) analysis is essential in the selection of thrusters, in their configuration, and during preliminary investigation of the positioning ability of a newly designed vessel dynamic pos... Dynamic positioning capability(DPCap) analysis is essential in the selection of thrusters, in their configuration, and during preliminary investigation of the positioning ability of a newly designed vessel dynamic positioning system.DPCap analysis can help determine the maximum environmental forces, in which the DP system can counteract in given headings. The accuracy of the DPCap analysis is determined by the precise estimation of the environmental forces as well as the effectiveness of the thrust allocation logic. This paper is dedicated to developing an effective and efficient software program for the DPCap analysis for marine vessels. Estimation of the environmental forces can be obtained by model tests, hydrodynamic computation and empirical formulas. A quadratic programming method is adopted to allocate the total thrust on every thruster of the vessel. A detailed description of the thrust allocation logic of the software program is given. The effectiveness of the new program DPCap Polar Plot(DPCPP)was validated by a DPCap analysis for a supply vessel. The present study indicates that the developed program can be used in the DPCap analysis for marine vessels. Moreover, DPCap analysis considering the thruster failure mode might give guidance to the designers of vessels whose thrusters need to be safer. 展开更多
关键词 DPCap analysis thrust allocation logic quadratic programming method
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A Study of Method on Connectivity Analysis of Between Software Components
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作者 Hu Feng, Lin Zi yu , Pen De chun State Key Laboratory of Software Engineering, Wuhan University, Wuhan 430072, China 《Wuhan University Journal of Natural Sciences》 CAS 2001年第Z1期288-291,共4页
An analysis and computation method of connectivity between components that based on logical subtyping is first presented, the concepts of virtual interface and real interface, and quantitative analysis and computation... An analysis and computation method of connectivity between components that based on logical subtyping is first presented, the concepts of virtual interface and real interface, and quantitative analysis and computation formula of connectivity between interfaces are also introduced, that based on a extendable software architecture specification language model. We provide a new idea for solving the problem of connection between reuse components. 展开更多
关键词 connectivity analysis component interface logical subtyping
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Intelligent Diagnostic Method for Ageing Analysis of Transformer
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作者 Anil Kumar Kori Arvind Kumar Sharma Ashok Kumar Singh Bhadoriya 《Energy and Power Engineering》 2012年第2期53-58,共6页
The fuzzy method is proposed for ageing analysis of transformer. The fuzzy controller is used for various input and one output, strictly depends on the number of membership function and there rule base and the type of... The fuzzy method is proposed for ageing analysis of transformer. The fuzzy controller is used for various input and one output, strictly depends on the number of membership function and there rule base and the type of the defuzzification method. The ageing of transformers is influenced by short term and long term over loads, number and intensity of short circuits, incidence of lightning, and internal faults. The recent development of various techniques for detecting the incipient fault conditions have been improved to some extent;the life expectancy of transformers by resorting to corrective actions in time. The ageing behavior is likely to be different for different types of transformers. The life span of the transformer, thus depends initially on the design and quality of manufacture and later on service conditions and maintenance standard, these factors vary considerably and affect the useful span of service life which therefore needs to be taken into account for residual life assessment. During the natural ageing of transformers, the insulation of winding deteriorates. Cellulose insulation degrades due to heating or electrical breakdown which is dissolved in oil. Hence, the chemical analysis of the Transformer oil gives evidence of changes that are taking place in the winding insulation during operation. Deterioration in transformer cellulose decreases both its electrical and mechanical strength. In this paper a novel fuzzy based algorithm has been implemented on three samples of power transformer oil. 展开更多
关键词 TRANSFORMER Oil Paper INSULATION Electrical BREAKDOWN Ageing analysis Fuzzy logic CONTROLLER
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Novel Epistemic and Predictive Heuristic for Semantic and Dynamic Social Networks Analysis
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作者 Christophe Thovex Francky Trichet 《Social Networking》 2014年第3期159-172,共14页
Using Kripke semantics, we have identified and reduced an epistemic incompleteness in the metaphor commonly employed in Social Networks Analysis (SNA), which basically compares information flows with current flows in ... Using Kripke semantics, we have identified and reduced an epistemic incompleteness in the metaphor commonly employed in Social Networks Analysis (SNA), which basically compares information flows with current flows in advanced centrality measures. Our theoretical approach defines a new paradigm for the semantic and dynamic analysis of social networks including shared content. Based on our theoretical findings, we define a semantic and predictive model of dynamic SNA for Enterprises Social Networks (ESN), and experiment it on a real dataset. 展开更多
关键词 Graph analysis INTERDISCIPLINARY MODAL logic SEMANTICS Social Networks
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On-line coupling of derivatization with pre-concentration to determine trace levels of methotrexate
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作者 Samy Emara Tsutomu Masujima +2 位作者 Walaa Zarad Maha Kamal Ramzia EL-Bagary 《Journal of Pharmaceutical Analysis》 SCIE CAS 2013年第1期28-35,共8页
A new simple, sensitive and precise green analytical procedure using an automated packed-reactor derivatization technique coupled with on-line solid-phase enrichment (SPEn) has been developed and evaluated to determ... A new simple, sensitive and precise green analytical procedure using an automated packed-reactor derivatization technique coupled with on-line solid-phase enrichment (SPEn) has been developed and evaluated to determine trace levels of methotrexate (MTX). The method was based on injection of MTX into a flowing stream of phosphate buffer (0.04 M, ptt 3.4), carried through the packed oxidant reactor of Cerium (IV) trihydroxyhydroperoxide for oxidative cleavage of the drug into highly fluorescent product, 2,4-diaminopteridine- 6-carboxylic acid, followed by SPEn on a head of short ODS column (10mm x 4.6 mm i.d., 5 I+tm particle size). The flow rate was 0.25 mL/min and packed reactor temperaturc was 40 ~C. The trapped product was back-flush eluted from the ODS column to the detector by column-switching with an environmentally friendly mobile phase consisting of ethanol and phosphate buffer (0.04 M, pH 3.4) in the ratio of 5:95 (v/v). The eluent was monitored at emission and excitation wavelengths of 460 and was linear over the concentration range of 1.25-50 360 nm, respectively. The calibration curve ng/mL with a detection limit of 0.08 ug/ml..The method was successfully applied to determine MTX in pharmaceutical formulations with mean percentage recovery ranging from 99.48 to 99.60. 展开更多
关键词 METHOTREXATE Flow injection analysis Cerium (IV) trihydroxy-hydroperoxide on-line solid-phaseenrichment Fluorescence detection
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A Combinational Power Analysis Method against Cryptographic Hardware
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作者 GUO Zheng GU Dawu +4 位作者 LU Haining LIU Junrong XU Sen BAO Sigang GU Haihua 《China Communications》 SCIE CSCD 2015年第1期99-107,共9页
Power analysis is a non-invaslve attack against cryptographic hardware, which effectively exploits runtime power consumption characteristics of circuits. This paper proposes a new power model which combines Hamming Di... Power analysis is a non-invaslve attack against cryptographic hardware, which effectively exploits runtime power consumption characteristics of circuits. This paper proposes a new power model which combines Hamming Distance model and the model based on the template value of power consumption in combinational logic circuit. The new model can describe the power consumption characteristics of sequential logic circuits and those of combinational logic as well. The new model can be used to improve the existing power analysis methods and detect the information leakage of power consumption. Experimental results show that, compared to CPA(Correlation Power Analysis) method, our proposed attack which adopt the combinational model is more efficient in terms of the number of required power traces. 展开更多
关键词 cryptographic hardware side channel attack power analysis combinational logic
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Analysis on Multi Responses in Face Milling of Ammc Using Fuzzy-Taguchi Method
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作者 Madiri Samuel Sukumar Borra Vijay Sudheer Reddy P. Venkataramaiah 《Journal of Minerals and Materials Characterization and Engineering》 2015年第4期255-270,共16页
In this paper, Fuzzy-Taguchi Method has been used to identify the optimal combination of influential factors by analyzing the multi responses in the face milling. Milling experiment has been performed on AMMC (Alumini... In this paper, Fuzzy-Taguchi Method has been used to identify the optimal combination of influential factors by analyzing the multi responses in the face milling. Milling experiment has been performed on AMMC (Aluminium Metal Matrix Composite), according to Taguchi orthogonal array (L27) for various combinations of influential parameters: speed, feed, depth of cut and coolant. Fuzzy logic is applied for the analysis of experimental response data of vibrations, temperature, surface roughness and resultant forces. The Fuzzy grade is calculated from this data and Fuzzy grade is optimized using Taguchi method in order to get the optimal parameter values, and also influence of parameters on individual responses is studied using Taguchi S/N ratio analysis. This work is useful for analysis of machining parameters in face milling. 展开更多
关键词 FACE MILLING AMMC FUZZY logic Taguchi S/N Ratio analysis
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Using a Visible Vision System for On-Line Determination of Quality Parameters of Olive Fruits
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作者 Elena Guzmán Vincent Baeten +1 位作者 Juan Antonio Fernández Pierna José A. García-Mesa 《Food and Nutrition Sciences》 2013年第7期90-98,共9页
The increased expectations for food products of high quality and safety standards and the need for accurate, fast and objective quality determination of these characteristics in food products continue to grow. In this... The increased expectations for food products of high quality and safety standards and the need for accurate, fast and objective quality determination of these characteristics in food products continue to grow. In this situation, new techniques are necessary to enable on-line control of quality parameters. Computer vision provides one alternative for an automated, non-destructive and cost-effective technique in order to accomplish these requirements. The maturity index and sanitary conditions were objectively assessed on-line by image analysis obtained through machine vision, in which algorithms of colour-based segmentation, as well as the main operators to detect edges were used. The proposed methodology is able to estimate the maturity index and the percentage of defects in olives. In addition, this system can be potentially used on-line in the classification of olives, which means that it could help to improve the quality control of olive oil in factories. 展开更多
关键词 on-line Algorithm MATURITY Index OLIVE FRUIT Image analysis
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Direct and Inverse Kinematic Analysis of a Leg-wheeled Passive Wheel Mobile Robot - Ice-skater Robot
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作者 宋立博 张家梁 +1 位作者 吕恬生 陆顺寿 《Journal of Donghua University(English Edition)》 EI CAS 2003年第3期27-31,共5页
A new passive wheel type of leg-wheeled mobile robot based on rolling principle was introduced. To enhance the stability and maintain vertical to the ground of wheels, four passive wheels were installed at the end of ... A new passive wheel type of leg-wheeled mobile robot based on rolling principle was introduced. To enhance the stability and maintain vertical to the ground of wheels, four passive wheels were installed at the end of four legs respectively and parallel mechanisms were used as legs. And an inertia coordinate system and a robot coordinate system were established, the related kinematic equation of the robot was gotten according to some assumptions after the configuration or the posture of wheels and legs was analyzed. At the same time, the turning conditions of the robot were also obtained. Based on the motion principle, the VSS-based logic control system was designed and the skating straight experiments and the turning experiments were conducted. And some conclusions were drawn. 展开更多
关键词 Ice-skater Robot hybrid mobile robot kinematic analysis VSS-based logic control
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